Landmark Update of GPS/INS for Mobile Mapping System using a nearly horizontal single camera and 3D Point-Cloud

摘要

3D Mobile Mapping System (MMS) featuring dense point-cloud modeling has been developed. (Figure 1) The system consists of a rigid Sensor Bed (SB) attached on the roof of a van, laser range finders (LRF) and cameras that are mounted on the SB. The measurement is performed dynamically by the MMS in the target area, and the 3D reconstruction is carried out in post processing. The 3D models of arbitrary area that contains urban centers of poor satellite visibility are needed for objective Geographical Information System (GIS). Thus the posi-tioning and attitude determination system using GPS need to be coupled with inertial measurement unit (IMU). However the expensive employed IMU is, difficult to keep deci-meter accuracy under long GPS outage. This paper describes the reasonable method for accu-racy improvement of the MMS's positioning accuracy in such area. The proposing method employs the position measured road feature as the landmark, which is observed by the nearly horizontal camera (NHC) and the LRF that have been originally mounted on the MMS to collect the data for the 3D mapping. The evaluation is performed us-ing the field data collected by the normal MMS's meas-urement procedure, and decimeter-level positioning accu-racy under full GPS outage is confirmed.